Performance limitations in reference tracking and path following for nonlinear systems

被引：145

作者：

Aguiar, A. Pedro ^{[1
,2
]}

Hespanha, Joao P. ^{[2
]}

Kokotovic, Petar V. ^{[2
]}

机构：

[1] Inst Super Tecn, Inst Syst & Robot, ISR IST, P-1049001 Lisbon, Portugal

[2] Univ Calif Santa Barbara, Ctr Control Engn & Computat, Santa Barbara, CA 93106 USA

来源：

AUTOMATICA | 2008年 / 44卷 / 03期

关键词：

limits of performance; non-minimum phase nonlinear systems; path following; reference tracking; cheap-control;

D O I：

10.1016/j.automatica.2007.06.030

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We investigate limits of performance in reference tracking and path following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference tracking, the smallest achievable L-2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero dynamics of the error system. We then show that this fundamental performance limitation does not exist when the control objective is to force the output to follow a geometric path without a timing law assigned to it. This is true even when an additional desired speed assignment is required to be satisfied asymptotically or in finite time. (C) 2007 Published by Elsevier Ltd.

引用

页码：598 / 610

页数：13

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